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test

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This commit is contained in:
samuel desharnais 2024-12-17 18:32:47 -05:00
parent 81aefe3d56
commit 5bc17643ec
4 changed files with 81 additions and 36 deletions
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1
src/main/java/frc/robot/Commands/Lancer.java
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@ -4,7 +4,6 @@
package frc.robot.Commands;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Subsystems.Accumulateur;
import frc.robot.Subsystems.Lanceur;

48
src/main/java/frc/robot/Commands/LancerModeAuto.java Normal file
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@ -0,0 +1,48 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.Commands;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.Subsystems.Accumulateur;
import frc.robot.Subsystems.Lanceur;
public class LancerModeAuto extends Command {
private Lanceur lanceur;
private Accumulateur accumulateur;
/** Creates a new Lancer. */
public LancerModeAuto(Lanceur lanceur,Accumulateur accumulateur) {
this.lanceur = lanceur;
this.accumulateur = accumulateur;
addRequirements(lanceur, accumulateur);
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
lanceur.PIDlanceur(0, 0, 0);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
lanceur.lance();
accumulateur.Petitlanceur(0.9);
accumulateur.desaccumule(0.2);
lanceur.masterslave();
accumulateur.rouesbleue(0.7);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
lanceur.lance(0);
accumulateur.desaccumule(0);
accumulateur.Petitlanceur(0);
accumulateur.rouesbleue(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

61
src/main/java/frc/robot/RobotContainer.java
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@ -10,20 +10,18 @@ import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.DriveRequestType;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.Commands.Desaccumuler;
import frc.robot.Commands.FollowAprilTag;
import frc.robot.Commands.LEDactive;
import frc.robot.Commands.Lancer;
import frc.robot.Commands.LancerModeAuto;
import frc.robot.Subsystems.Accumulateur;
import frc.robot.Subsystems.CommandSwerveDrivetrain;
import frc.robot.Subsystems.LED;
@ -48,6 +46,33 @@ public class RobotContainer {
private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
private final Telemetry logger = new Telemetry(MaxSpeed);
// private final SendableChooser<Command> autoChooser;
Lanceur lanceur= new Lanceur();
Accumulateur accumulateur = new Accumulateur();
Limelight3G limelight3G = new Limelight3G();
LED led = new LED();
//Drive drive = new Drive();
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
public RobotContainer() {
// NamedCommands.registerCommand("lancer", lanceur.lance());
//autoChooser = AutoBuilder.buildAutoChooser();
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(3,4)
.withPosition(5,0);
dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
.withSize(3,4)
.withPosition(2,0);
manette.x().whileTrue(new Lancer(lanceur,accumulateur));
//manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
manette.a().whileTrue(new Desaccumuler(accumulateur));
manette.y().whileTrue(new LEDactive(accumulateur, led));
configureBindings();
}
private void configureBindings() {
drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drive.withVelocityX(-manette.getLeftY() * MaxSpeed) // Drive forward with
@ -67,34 +92,8 @@ public class RobotContainer {
}
drivetrain.registerTelemetry(logger::telemeterize);
}
// private final SendableChooser<Command> autoChooser;
Lanceur lanceur= new Lanceur();
Accumulateur accumulateur = new Accumulateur();
Limelight3G limelight3G = new Limelight3G();
LED led = new LED();
//Drive drive = new Drive();
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
public RobotContainer() {
//NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
//NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur));
//autoChooser = AutoBuilder.buildAutoChooser();
dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
.withSize(3,4)
.withPosition(5,0);
dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
.withSize(3,4)
.withPosition(2,0);
manette.x().whileTrue(new Lancer(lanceur,accumulateur));
manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
manette.a().whileTrue(new Desaccumuler(accumulateur));
manette.y().whileTrue(new LEDactive(accumulateur, led));
}
public Command getAutonomousCommand() {
return null;
return new SequentialCommandGroup(new LancerModeAuto(lanceur, accumulateur));
// return autoChooser.getSelected();
}
}

3
src/main/java/frc/robot/Subsystems/CommandSwerveDrivetrain.java
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@ -15,7 +15,6 @@ import edu.wpi.first.wpilibj.Notifier;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
/**
* Class that extends the Phoenix SwerveDrivetrain class and implements
* subsystem so it can be used in command-based projects easily.
@ -31,13 +30,13 @@ public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsyst
private final Rotation2d RedAlliancePerspectiveRotation = Rotation2d.fromDegrees(180);
/* Keep track if we've ever applied the operator perspective before or not */
private boolean hasAppliedOperatorPerspective = false;
public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, double OdometryUpdateFrequency, SwerveModuleConstants... modules) {
super(driveTrainConstants, OdometryUpdateFrequency, modules);
if (Utils.isSimulation()) {
startSimThread();
}
}
public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, SwerveModuleConstants... modules) {
super(driveTrainConstants, modules);
if (Utils.isSimulation()) {